CN113702090A

CN113702090A - Semi-loose reindeer feces collection and preservation device

Info

Publication number: CN113702090A
Application number: CN202110906711.5A
Authority: CN
Inventors: 殷亚杰; 聂春雨; 任国领; 张国发; 徐太海
Original assignee: Daqing Normal University
Current assignee: Daqing Normal University
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2021-11-26
Anticipated expiration: 2041-08-09
Also published as: CN113702090B

Abstract

The invention belongs to the technical field of animal excrement collection, and particularly relates to a semi-loose reindeer excrement collection and storage device. The device comprises a remote control trolley, wherein a six-freedom-degree mechanical arm is arranged at the top of the remote control trolley, the tail end of the six-freedom-degree mechanical arm is connected with an excrement acquisition hopper, a sealing bag placing groove is formed in the remote control trolley, a bag taking opening is formed in the front end face of the sealing bag placing groove, and a rail is arranged at the front end of the bag taking opening.

Description

Semi-loose reindeer feces collection and preservation device

Technical Field

The invention belongs to the technical field of animal excrement collection, and particularly relates to a semi-loose reindeer excrement collection and storage device.

Background

In recent years, a non-invasive sampling method by collecting excrement such as feces, urine, saliva, etc. of animals has been widely used. The method can effectively avoid various stress reactions brought to animals by traditional blood sample collection, and can effectively detect the survival states and survival adaptation problems of animal nutrition, reproduction, stress, biorhythm and the like. Therefore, the collection of fresh feces from animals and the determination of various physiological hormone levels have become an important approach to the study of physiological status in wild and semi-dispersed animals.

Reindeer is the largest number of cervidae in the world and is widely distributed in arctic and sub-arctic regions. In China, reindeer are only distributed in great Xingan mountain areas of inner Mongolia and are important animals with rich national characteristics. In recent years, under the influence of various factors such as food, population structure, feeding management and the like, the estrus rate and conception rate of reindeer in China are continuously reduced, the population quantity is reduced year by year, and how to evaluate and monitor the physiological state of reindeer population reproduction and rejuvenate the population becomes a problem concerned by local governments.

The evaluation and monitoring of the reproductive physiology of animals is determined primarily by changes in testosterone, progesterone and estradiol levels, which are traditionally measured primarily by blood collection from the animal. Domestic reindeer are semi-loose animals, live in deep forest of great Xingan mountain of inner Mongolia all year round, the range of motion is large, the manual tracking and collection bring inconvenience, and sampling at the tribal point can influence the normal life of reindeer, so how to finish sampling of fresh excrement of semi-loose reindeer under the condition of not frightening or frightening reindeer is an important problem for workers.

Disclosure of Invention

Aiming at the technical problems of adoption of fresh excrement of the semi-free domesticated reindeer in the tribe, the invention provides the semi-free domesticated reindeer excrement collecting and storing device which is reasonable in design, simple in structure, convenient to use and not easy to disturb reindeer.

In order to achieve the purpose, the invention adopts the technical scheme that the invention provides a semi-loose reindeer feces collecting and storing device, which comprises a remote control trolley, wherein the top of the remote control trolley is provided with a six-freedom-degree mechanical arm, the tail end of the six-freedom-degree mechanical arm is connected with a feces acquisition hopper, a sealing bag placing groove is arranged in the remote control trolley, the front end surface of the sealing bag placing groove is provided with a bag taking opening, the front end of the bag taking opening is provided with a track, the track is arranged in parallel with the front end surface of the sealing bag placing groove, the track is provided with a sliding block, the sliding block is arranged on the track in a sliding manner, the top of the sliding block is provided with an electromagnetic push rod, the end part of the electromagnetic push rod is provided with a negative pressure sucker, one side of the sealing bag placing groove is provided with an auxiliary negative pressure sucker, the auxiliary negative pressure sucker is arranged in parallel with the track, one side of the auxiliary negative pressure sucker, which is far away from the sealing bag placing groove, is provided with an extrusion conveying mechanism, the extrusion conveying mechanism comprises a driven roller wheel arranged at the auxiliary negative pressure sucker and a conveying belt arranged at one end of the negative pressure sucker, wherein an excrement placing groove is formed in one side, away from the auxiliary negative pressure sucker, of the conveying belt, a notch of the excrement placing groove is located below the sealing bag placing groove, a methanol placing box is further arranged in the remote control trolley, a water pump is arranged on the methanol placing box, a liquid outlet of the water pump is connected with a spray head, and the spray head is arranged between the auxiliary negative pressure sucker and the negative pressure sucker.

Preferably, a rotating motor is further arranged in the remote control trolley, a power end of the rotating motor is connected with a rotating rod, and a spray head is arranged at one end, far away from the rotating motor, of the rotating rod.

Preferably, a lifting electromagnetic push rod is arranged at the bottom of the rotating motor, and the rotating motor is arranged in the remote control trolley through the lifting electromagnetic push rod.

Preferably, the excrement acquisition hopper comprises a left side hopper and a right side hopper which are symmetrically arranged, and the left side hopper and the right side hopper are fixed at the tail end of the six-free manipulator through an X-shaped opening mechanism.

Compared with the prior art, the invention has the advantages and positive effects that,

1. the invention provides a device for collecting and storing feces of a semi-loose reindeer, which is characterized in that a remote control trolley is controlled by the existing mature remote control technology to walk at a laying point of the reindeer, so that the disturbance to the reindeer is reduced, meanwhile, feces collection is realized by matching with a feces collection hopper, and sealed storage of the feces is realized by using a negative pressure sucking disc, a sealed bag placing groove and an extrusion conveying mechanism, so that the feces of the semi-loose reindeer is effectively collected, and convenience is provided for evaluation and monitoring of the breeding physiological state of the reindeer population and rejuvenation of the population.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic structural diagram of a device for collecting and storing feces of Rangifer tarandus in semi-distributed form according to example 1;

FIG. 2 is a schematic view of the internal structure of the device for collecting and storing feces of Rangifer tarandus in semi-distributed form as provided in example 1;

FIG. 3 is a schematic view of a part of the structure of the device for collecting and storing feces of Rangifer tarandus in semi-distributed form provided in example 1;

in the above figures, 1, a remote control trolley; 11. a feces placing groove; 2. a six-degree-of-freedom manipulator; 3. a manure acquisition hopper; 31. a left side hopper; 32. a right side hopper; 33. an X-shaped opening mechanism; 4. a sealing bag placing groove; 41. taking a bag opening; 5. a track; 51. a slider; 6. an electromagnetic push rod; 61. a negative pressure sucker; 62. an auxiliary negative pressure suction cup; 7. an extrusion conveying mechanism; 71. a driven roller; 72. a conveyor belt; 73. a conveyor belt rack; 74. a guide shaft; 75. a compression spring; 76. a fixed seat; 8. a methanol holding box; 81. a water pump; 82. a spray head; 83. a rotating electric machine; 84. rotating the rod; 85. the electromagnetic push rod is lifted.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.

Example 1 this example aims to provide a method for collecting fresh reindeer feces with little or no disturbance of reindeer, as shown in fig. 1 to 3. In view of the rapid development of the existing communication technology and remote control technology, the semi-distributed reindeer feces collection and preservation device provided by the embodiment comprises a remote control trolley 1, wherein the remote control trolley 1 is an existing common remote control trolley 1, the remote control trolley 1 is preferably a mecanum wheel remote control trolley 1 in view of walking stability, in the embodiment, the whole remote control trolley 1 is arranged in a cuboid shape, a six-freedom mechanical arm is arranged at the top of the remote control trolley 1 and can effectively meet the requirement of multi-angle feces grabbing and storage, a feces acquisition bucket 3 is connected to the tail end of the six-freedom mechanical arm 2, in the embodiment, in order to acquire feces, a feces acquisition bucket 3 is specially provided, specifically, the whole feces acquisition bucket 3 is arranged in a groove-shaped circular truncated cone shape and comprises a left side bucket 31 and a right side bucket 32 which are arranged on the left and right sides, and when the left side bucket 31 and the right side bucket 32 are closed, the circular truncated cone shape is formed, an X-shaped opening mechanism 33 is arranged at the end of the six-degree-of-freedom manipulator 2, and the opening and closing of the X-shaped opening mechanism 33 are realized by using an electromagnetic rod, so that the opening and closing of the left side bucket 31 and the right side bucket 32 are controlled, when excrement needs to be obtained, the opening of the left side bucket 31 and the right side bucket 32 is realized by using the retraction of the electromagnetic rod, the excrement is surrounded from two sides, then, the closing of the left side bucket 31 and the right side bucket 32 is realized by using the extension of the electromagnetic rod, so that the excrement of reindeer is obtained, and the X-shaped opening mechanism 33 is common in machinery and is not described in detail in the embodiment.

Considering that the excrement is required to be placed in a sealed bag after being obtained, and when the excrement is implemented, the remote control trolley 1 can not be returned when obtaining one piece of excrement, therefore, the remote control trolley 1 is required to have the excrement storage function, for this reason, the remote control trolley 1 provided in the embodiment is further provided with a sealed bag placing groove 4, the sealed bag placing groove 4 is integrally provided with a square notch, a bag taking opening 41 is arranged on the front end surface of the sealed bag placing groove 4, the bag taking opening 41 is arranged in a long strip shape, a rail 5 is arranged at the front end of the bag taking opening 41, the rail 5 is arranged in parallel with the front end surface of the sealed bag placing groove 4, a slide block 51 is arranged on the rail 5, the slide block 51 is arranged on the rail 5 in a sliding manner, specifically, a motor is arranged in the remote control trolley 1, a synchronous belt wheel is arranged at the power end of the motor, an auxiliary synchronous belt wheel is arranged at the other end of the rail 5, and the slide block 51 is arranged on the slide block 51, The synchronous belt is arranged between the synchronous pulley and the auxiliary synchronous pulley, so that the sliding of the sliding block 51 on the track 5 is realized.

An electromagnetic push rod 6 is arranged on the top of the sliding block 51, and a negative pressure suction cup 61 is arranged at the end part of the electromagnetic push rod 6, so that when the electromagnetic push rod 6 moves to the position of the bag taking opening 41, the negative pressure suction cup 61 works to pull out the sealing tape closest to the bag taking opening 41. In this embodiment, in order to ensure that the sealing bag of the sealing bag placement groove 4 is always tightly attached to the bag opening 41, a pressing plate is arranged at one end of the sealing bag placement groove 4 far away from the bag opening 41, and a spring is arranged between the pressing plate and an end plate of the sealing bag placement groove 4, so that the sealing bag is always pressed under the action of the spring, thereby ensuring that the sealing bag is always located at the position of the bag opening 41.

After the negative pressure sucker 61 acquires the sealing bag, the sealing bag needs to be opened so as to put excrement into the sealing bag, for this reason, an auxiliary negative pressure sucker 62 is arranged on one side of the sealing bag containing groove 4, the auxiliary negative pressure sucker 62 is arranged in parallel with the rail 5, in this way, the negative pressure sucker 61 sucks one side of the sealing bag, the auxiliary negative pressure sucker 62 sucks the other side of the sealing bag, then the electromagnetic push rod 6 retracts, the sealing bag is opened, at this moment, the excrement acquisition hopper 3 moves into the sealing bag under the action of the six-degree-of-freedom manipulator 2, then, the X-type opening mechanism 33 is controlled to open the excrement acquisition hopper 3, and the excrement falls into the sealing bag. Then, the excrement-collecting bucket 3 is reset.

After the feces are put into the sealing bag, the sealing bag needs to be sealed, the existing sealing bag mainly adopts the concave-convex buckle to realize sealing, therefore, in order to realize the buckling of the concave-convex buckle and convey the sealing bag which is just buckled to a designated position for storage, one side of the auxiliary negative pressure sucker 62, which is far away from the sealing bag placing groove 4, is provided with the extrusion conveying mechanism 7, the extrusion conveying mechanism 7 comprises a driven roller 71 arranged on the auxiliary negative pressure sucker 62 and a conveying belt 72 arranged at one end of the negative pressure sucker 61, a plurality of driven rollers 71 are arranged and closely arranged, the conveying structure of the roller is not arranged at the side of the negative pressure sucker 61, the complexity of the roller conveying structure is mainly considered, the structure of the conveying belt 72 is adopted, the conveying roller at one end of the conveying belt 72 adopts an outer rotor motor to drive the whole conveying belt 72 to rotate, and because the sealing bag enters the extrusion conveying mechanism 7, the buckle of the concave-convex buckle can be completed under the extrusion of the conveying roller and the driven roller 71, and the sealing of the sealing bag can be satisfied without the buckle.

In the present embodiment, in order to accurately engage the male and female fastener on the sealed bag, after the sealed bag is sucked by the negative pressure suction cup 61 and moved to the position of the auxiliary negative pressure suction cup 62, a part of the sealed bag is inserted into the squeeze transport mechanism 7, so that the opening of the sealed bag is actually controlled at 5 points, and the two negative pressure suction cups 61, the two auxiliary negative pressure suction cups 62, and a part of the squeeze transport mechanism 7 are held, so that the opening stability can be ensured.

In order to ensure the stability of the extrusion conveying mechanism 7, in this embodiment, the conveying belt 72 is fixed opposite to the auxiliary rollers through the conveying belt frame 73, four guide shafts 74 are arranged at the corners of the conveying belt 72, a fixing seat 76 is arranged at one end of each guide shaft 74 far away from the conveying belt frame 73, and an extrusion spring 75 is sleeved on each guide shaft 74, so that the conveying belt 72 ensures the clamping effect on the sealed bags under the action of the compression springs, and when the sealed bags are driven by the negative pressure suction cups 61 to move to the position of the extrusion conveying mechanism 7, the sealed bags can be inserted between the auxiliary rollers and the conveying belt 72 due to the structural characteristics of the rollers, so that part of the sealed bags can be sucked under the slight rotation of the conveying belt 72, and the clamping of the sealed bags can be ensured.

The excrement placing groove 11 is arranged on one side, far away from the auxiliary negative pressure sucker 62, of the conveying belt 72, the notch of the excrement placing groove 11 is located below the sealing bag placing groove 4, the lower portion referred to in the position is the lower portion in height, and is not located below, so that the sealing bag passing through the extrusion conveying mechanism 7 can fall in the excrement placing groove 11, a taking and placing opening is arranged on one side of the excrement placing groove 11, the taking and placing opening is convenient for workers to take out, and the taking and placing opening is arranged at one end of the six-degree-of-freedom manipulator 2.

Through research discovery, under the condition of four degrees centigrade below zero and under the save of the methyl alcohol of 90% concentration, excrement and urine preserves the effect best, for this reason, excrement and urine standing groove 11 can set to have refrigeration effect, also can not set up, like this, only need gather in winter, can, for this reason, in order to satisfy placing of methyl alcohol, it places case 8 still to be provided with methyl alcohol in remote control dolly 1, methyl alcohol is placed and is provided with water pump 81 on the case 8, water pump 81's liquid outlet is connected with shower nozzle 82, shower nozzle 82 sets up between supplementary negative pressure suction cup 62 and negative pressure suction cup 61. Thus, after the feces are put in, the nozzle 82 sprays the methanol into the sealed bag.

Considering that the whole collecting and storing device needs to continuously collect, in order to avoid mutual influence of the excrement, the excrement acquisition bucket 3 needs to be cleaned, and outdoors, the using hazard of the methanol is low, for this reason, in this embodiment, a rotating motor 83 is further arranged in the remote control trolley 1, the power end of the rotating motor 83 is connected with a rotating rod 84, and one end of the rotating rod 84, which is far away from the rotating motor 83, is provided with a spray head 82. In this way, the nozzle 82 is rotated by the rotating motor 83 to the upper side of the stool-receiving bucket 3, and the interior of the stool-receiving bucket 3 can be cleaned by the injection of the nozzle 82, thereby satisfying the need for cleaning the stool-receiving bucket 3. Simultaneously, because in the open air, also can utilize shower nozzle 82 to acquire the outer wall of fighting 3 to excrement and urine to wash, because the structure of six free manipulators, make excrement and urine acquire to fight 3 and can rotate, realize that the omnidirectional washes. Of course, the washing may be omitted, or the water tank may be provided in the remote-controlled cart 1 and the washing may be performed with water.

In order to prevent the nozzle 82 from spraying the excrement acquisition hopper 3 with water outside the sealed bag, a lifting electromagnetic push rod 85 is arranged at the bottom of the rotating motor 83, and the rotating motor 83 is arranged in the remote control trolley 1 through the lifting electromagnetic push rod 85. Thus, the spray head 82 can be extended into the excrement acquisition bucket 3, and the flushing is more thorough, clean and safe.

Through the arrangement, the feces can be collected and stored under the condition of disturbing or less disturbing the reindeer population.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims

1. A semi-loose reindeer feces collection and preservation device comprises a remote control trolley and is characterized in that a six-freedom-degree mechanical arm is arranged at the top of the remote control trolley, an feces acquisition hopper is connected to the tail end of the six-freedom-degree mechanical arm, a sealing bag placing groove is arranged in the remote control trolley, a bag taking opening is formed in the front end face of the sealing bag placing groove, a track is arranged at the front end of the bag taking opening, the track is parallel to the front end face of the sealing bag placing groove, a sliding block is arranged on the track and is arranged on the track in a sliding manner, an electromagnetic push rod is arranged at the top of the sliding block, a negative pressure sucker is arranged at the end part of the electromagnetic push rod, an auxiliary negative pressure sucker is arranged on one side of the sealing bag placing groove and is parallel to the track, and an extrusion conveying mechanism is arranged on one side of the auxiliary negative pressure sucker away from the sealing bag placing groove, the extrusion conveying mechanism comprises a driven roller wheel arranged at the auxiliary negative pressure sucker and a conveying belt arranged at one end of the negative pressure sucker, wherein an excrement placing groove is formed in one side, away from the auxiliary negative pressure sucker, of the conveying belt, a notch of the excrement placing groove is located below the sealing bag placing groove, a methanol placing box is further arranged in the remote control trolley, a water pump is arranged on the methanol placing box, a liquid outlet of the water pump is connected with a spray head, and the spray head is arranged between the auxiliary negative pressure sucker and the negative pressure sucker.

2. The device for collecting and storing feces of reindeer in semi-loose form according to claim 1, wherein a rotating motor is further disposed in the remote control cart, a rotating rod is connected to a power end of the rotating motor, and a nozzle is disposed at an end of the rotating rod away from the rotating motor.

3. The device for collecting and storing feces of reindeer in semi-distributed manner according to claim 2, wherein a lifting electromagnetic push rod is disposed at the bottom of the rotating motor, and the rotating motor is disposed in the remote-control cart via the lifting electromagnetic push rod.

4. The device for collecting and storing feces of reindeer in semi-distributed manner according to claim 3, wherein the feces collection hopper comprises a left side hopper and a right side hopper which are symmetrically arranged, and the left side hopper and the right side hopper are fixed at the tail end of a six-freedom manipulator through an X-shaped opening mechanism.